Inertial Motion Units(IMU)

Key factor attachable / programmable / affordable / wireless / continuity / OS / interruption free Attachable PET 에 무리 없이 들어가거나 head 의 특정 부분에 잘 부착될 수 있어야 하며, 이미 부착 하기로한 CDD sensor 를 건드리지 않는 선을 지켜야. Programmable 소스가 풍부하고 우리가 사용할 수 있는 Matlab, C, C++ 지원해야. 또는 오픈 소스 S/W 다운로드 가능해야. Affordable 가격문제 있으나 직접 contact 해야 하는 경우 있음. 또한 가용 예산도 교수님과의 미팅에서 파악해야. Wireless 가능하다면 wireless 를 사용하는 것이 좋을 것. Continuity 촬영 목적에 따라 다르겠지만 긴 경우 90min 까지 촬영하므로 long lasting data transfer 가능해야. OS Window7 또는 window8 지원해야. ios, linux... That's nono Interruption free 배경지식 없어 추가적으로 알아봐야 하지만 wireless 의 경우 PET 이나 CCD 와 혼선 생기지 않을지 알아봐야. Accuracy 보통의 PET 이면 2.5mm 픽셀 단위이지만 NRI 의 HRRT 의 경우 1.5mm 픽셀단위로 알고 있음. Detectable range of angle 에 대한 spec 은 많이 써있지만 최소 미소 angle 에 대한 spec 알아야 미세한 patient movement 측정 정확할 것.

1. Colibri Wireless - Inertial Motion Tracker

Feature 3-axis MEMS accelerometer 3-axis MEMS gyroscope 3-axis AMR (magneto-resistive) magnetic sensor Temperature sensor Wireless 2.4GHz bandoperation 10 meters working distance 16 hours operation with built-in battery, micro-USB charging

Feature Up to 10 trackers synchronized in the wireless network USB-dongle (receiver), with USB inerface (virtual COM port) and synchronisation IN/OUT to join 2 or more Colibri networks Auxiliary digital and analog inputs (e.g. for OEMs to implement joystick) Software API for Windows and Linux representing extended Kalman filter for the orientation tracking High-precision aluminum base plate

Spec AccelerometerScale: ±6g | Resolution: 13-bit GyroscopeScale: ±2000º/s | Resolution: 16-bit Magnetic sensorScale: ±1.3 Ga | Resolution: 12-bit Working frequency100 Hz Orientation accuracyPitch/roll: 0.5° | Yaw: 2° Temperature sensorAccuracy: ±0.5°C | Range: 0°C to +70°C Non-volatile memory for user data 1024 bytes Power consumption3.7V LiPo battery 660 mAh(40mA) Operation Temperature °C (self-powered); °C (char ging) Weight41g (with battery) Dimensions (W/H/D)56mm/42mm/17mm

Link : motion-tracker-3/ motion-tracker-3/

2. APDM - Wearable Inertial Monitors

Feature Dimensions: 48.5x36.5x13.5 mm Weight: 22 grams (with battery) Material: 6061 clear anodized Aluminum, ABS plastic, and Velcro straps. Internal Storage: 8 GB (~720 hours of recording) Battery Life – Wireless Streaming: 8 hours – Synchronous Logging: 12 hours – Asynchronous Logging: hours (depending on output rate)

Sensor Characteristics PropertyAccelerometerGyroscopeMagnetometer Axes333 Range+/-2g or +/-6g+/ º/s+/- 6 Gauss Noise Density Sample Rate1280 Hz Output Rate Hz Bandwidth50 Hz Resolution14 bits

Wireless Characteristics Synchronous units2 to 24 Opals exchange data packets to maintain precise time synchronization Synchronization resolution 10μs resolution between Opals in a network Transmission range30m line of sight, 10m office Transmission latency 300 ms with data buffer feature turned ON 30 ms with data buffer feature turned OFF Data buffer8 GB storage completely eliminates data loss while streaming.

Data and System Information Data output3D acceleration, angular velocity, magnetic field, and orientation estimate Data formatDocumented binary format (HDF5) and/or plain text (CSV) Application development Complete cross-platform software development kit included for Windows Mac, and Linux. Compatible with MATLAB, Java, and C. Synchronize with 3rd party systems ECG, force plate, gait mats, optical systems, and more

Accessories StrapsFor the wrist, ankle, bicep, thigh, head, trunk, sternum, belt, or shoe Docking stationRecharge the battery and download stored data, includes AC adapter Access pointEnable wireless data streaming from the Opals to the user’s computer over USB External buttonWhen an event occurs, such as a fall, the subject can indicate the occurrence by simply pressing the external button located on the Opal Link :

3. InertiaCube4™

Feature Sourceless 3DOF tracking with full 360° range Accuracy of 1° yaw, 0.25° pitch & roll 200 Hz update rate 2000° maximum angular rate Adjustable output filters and rotational sensitivity In-situ and environmental Compass Calibration Tools for static magnetic field compensation Native USB and RS-232 versions available

Spec Degrees of Freedom3 (Yaw, Pitch, and Roll) Angular RangeFull 360° - All Axes Maximum Angular Rate2000° per second Minimum Angular Rate0° per second Accuracy (RMS)1° in yaw, 0.25° in pitch & roll at 25°C Angular Resolution0.01° RMS Update Rate200 Hz Minimum Latency2 ms for RS-232 (PC host OS dependent)

Spec PredictionUp to 50 milliseconds Serial Rate115.2 kbaud Size1.44 in. x 1.09 in. x 0.55 in. (36.6 mm x 27.7 mm x 13.8 mm) Weight0.39 ounces (11 grams) Cable Length15 ft. (4.572 m) for RS-232 Version 6 ft. (2.0 m) for USB Version Power6 VDC, 40 mA Operating Temp. Range0° to 50°C O/S Compatibility.dll for Windows 7/XP.so for Linux.dylib for Mac OS X ComplianceCE, UL, RoHS

Link :

4. MTw Development Kit Lite - Wireless motion tracker

Overview Completely wireless Long battery life of up to 4 hours Compatible with software for MTi 10-series and MTi 100- series Intuitive Windows software for real-time view, logging and export Extensive SDK with example code for system integration Accurate data

Overview Highly sensitive MEMS inertial sensors Internal sampling at 1800 Hz and internal pre- processing maintains accuracy under challenging dynamic conditions Sensor fusion algorithms ensures highly accurate, drift-free output Highly suitable for training & simulation, pedestrian navigation, test & measurement and robotics

Spec Transmission range Up to 10 m in open space Continuous use operating time (typical) ~3.5 hours Internal sample rate 1800Hz Stand-by time 90 hours Wireless update rate 120 Hz Charging time ~1 hour Hardware 1x MTw inertial motion tracker 1x Awinda USB dongle 1x USB charging cable 1x Set of click-in mounting tools Physical properties MTw Motion Tracker 27 grams 34.5 x 57.8 x 14.5 mm (W x L x H)

Spec Motion trackers orientation performance Static accuracy (Roll/Pitch)< 0.5 deg Static Accuracy< 1 deg Dynamic Accuracy2 deg RMS Angular Resolution0.05 deg Output Data 3D Orientation (Euler, quaternions, rotation matrices) 3D Acceleration 3D Rate of turn 3D Earth magnetic field Static pressure Software MT Software Suite, including MT Manager and MT SDK

Software : MT Software Suite C++ wrapper Examples for C, C++ and Matlab. Supported operating systems: Windows and Linux. DLL for both 32-bit and 64-bit systems. Extensive documentation on the MTw, the XBus protocol and the SDK (PDF and HTML) Link :

5. STT-IBS - Wireless Inertial Sensor

HOUSING SPECIFICATIONS Spec Dimensions36 x 15 x 46.5 mm Weight30 gr Frequency rate Hz Static precision (roll, pitch, yaw)<0.5º Dynamic precision (roll, pitch, yaw)<2º Angle resolution<0.1º Latency4 ms Rotational velocities+/- 2,000 dps Acceleration+/- 2G and +/- 8G Magnetic force+/- 1,200 uT SENSOR PERFORMANCE

SDK Operating System Windows 2000, XP, Vista, 7, 8 CPUIntel Core 2 Duo 2.00GHz or more Memory1 GB RAM or more Video cardNVidia GeForce 8600M GS or more Hard drive1 GB of free disk space SAMPLE LAPTOP FEATURES COMMUNICATION Bluetooth2.0 WiFiIEEE Link :

6. Adafruit 10-DOF IMU Breakout - L3GD20 + LSM303 + BMP180

Feature 3 axes of accelerometer data 3 axes gyroscopic 3 axes magnetic (compass) Barometric pressure/altitude and temperature L3GD20 3-axis gyroscope: ±250, ±500, or ±2000 degree-per- second scale LSM303 3-axis compass: ±1.3 to ±8.1 gauss magnetic field scale LSM303 3-axis accelerometer: ±2g/±4g/±8g/±16g selectable scale BMP180 barometric pressure/temperature: -40 to 85 °C, hPa range, 0.17m resolution

Feature Dimensions (without header) – Length: 1.5" / 38mm – Width: 0.9" / 23mm – Height: 0.125" / 3mm – Weight: 2.8g – This board/chip uses I2C 7-bit addresses 0x19 & 0x1E & 0x6B & 0x77 Link :